/*
 * @Author: tianchunyu
 * @Date: 2020-07-17 21:12:12
 * @LastEditTime: 2020-07-02 11:10:59
 * @LastEditors: Please set LastEditors
 * @Description: location function code and there is only dead reckoing function until now
 * @FilePath: \X\1km\washer\control_pumps.c
 */ 
#ifndef __LOCATION__H
#define __LOCATION__H
#include "../driver/driver.h"
#include "../algorithm/algorithm.h"  
#include "../bsp/bsp.h"
#include "upper.h"
extern int xp_location_init();
extern int  xp_location_get_pulse_num(int* left_pulse,int* right_pulse);
extern int  xp_location_encode_clear();
extern int xp_location_debug(char *type,char *fun,char *param);
extern void xp_location_thread();
extern double xp_lcoation_get_angle();

#endif